I think vision-only can certainly work for 99.9% of driving.

But it's that 0.1% of situations where the results will be catastrophic. Sure, you can detect vehicles, traffic cones, bikes (both bicycles and motorcycles), people, mopeds, traffic lights, lane markings, everything you'd expect on a road.

But what about the mattress that fell out of someone's truck? If the car doesn't know what a mattress is and what it looks like, it can't really adequately determine its size based on the monocular vision that Tesla has. Sure, maybe it could use motion vectors between video frames to make a guess, but I'm not convinced that's going to work well, especially relative to LIDAR.

Steering back to the subject at hand...

> "In the crashes that ODI has reviewed, the system did not detect common roadway conditions that impaired camera visibility and/or provide alerts when camera performance had deteriorated until immediately before the crash occurred."

I don't think I've ever had my Tesla disable Autopilot based on road conditions, though maybe it's because when conditions are bad, I've just taken manual control preemptively. I've let it go through construction areas where cones are guiding traffic outside the painted lines, and surprisingly, it's handled it fine, though I've only done this at low speeds (~20 mph).

Camera visibility is another story. In heavy rain at night, I've had it not allow me to enable AP, though I've never had it disable AP and tell me to take control. However, it HAS limited the cruise speed based on visibility.

All this to say...

...anybody buying Tesla's FSD is being swindled, as far as I'm concerned. "FSD (Supervised)" is a scam. If you have to supervise it, it's not self-driving. It's just a party trick that you have to watch to make sure nothing goes wrong.